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<div class="title">ifs_io.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2013, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_IO_IFS_IO_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_IO_IFS_IO_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLPointCloud2.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/conversions.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/boost.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/PolygonMesh.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_reader.html">   54</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_i_f_s_reader.html">IFSReader</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_reader.html#ae36146cd70de8de1fa608f62b84407ab">   58</a></span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html#ae36146cd70de8de1fa608f62b84407ab">IFSReader</a> () {}</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_reader.html#ac7d2e9485c69123c824d67544cbe459b">   60</a></span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html#ac7d2e9485c69123c824d67544cbe459b">~IFSReader</a> () {}</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">enum</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        IFS_V1_0 = 0,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        IFS_V1_1 = 1</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      };</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_reader.html#a68e63978b51365e7130c11ac74be53de">   88</a></span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html#a68e63978b51365e7130c11ac74be53de">readHeader</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                  <span class="keywordtype">int</span> &amp;ifs_version, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &amp;data_idx);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_reader.html#ad949b0f5db6a8f892ab040491d5bfd11">  101</a></span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html#ad949b0f5db6a8f892ab040491d5bfd11">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, <span class="keywordtype">int</span> &amp;ifs_version);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_reader.html#ad06dea75a21ebf304e3b2ac93a06ea15">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html#ad06dea75a21ebf304e3b2ac93a06ea15">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;mesh, <span class="keywordtype">int</span> &amp;ifs_version);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_reader.html#a8e14932dff214fd6341f4910cf158983">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html#a8e14932dff214fd6341f4910cf158983">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">int</span> ifs_version;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = Eigen::Quaternionf::Identity ();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordtype">int</span> res = read (file_name, blob, ifs_version);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="comment">// If no error, convert the data</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">if</span> (res == 0)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          pcl::fromPCLPointCloud2 (blob, cloud);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">return</span> (res);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  };</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_writer.html">  144</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_i_f_s_writer.html">IFSWriter</a></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_writer.html">IFSWriter</a>() {}</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      ~<a class="code" href="classpcl_1_1_i_f_s_writer.html">IFSWriter</a>() {}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_writer.html#a042d2eb77e8b87995de6ee531872efdf">  160</a></span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_writer.html#a042d2eb77e8b87995de6ee531872efdf">write</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;             <span class="keyword">const</span> std::string &amp;cloud_name = <span class="stringliteral">&quot;cloud&quot;</span>);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_f_s_writer.html#ac3a946b97f4cdfe07a9c7d42979647f1">  173</a></span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_writer.html#ac3a946b97f4cdfe07a9c7d42979647f1">write</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;             <span class="keyword">const</span> std::string &amp;cloud_name = <span class="stringliteral">&quot;cloud&quot;</span>)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        pcl::toPCLPointCloud2&lt;PointT&gt; (cloud, blob);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">return</span> (write (file_name, blob, cloud_name));</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  };</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    loadIFSFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html">pcl::IFSReader</a> p;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordtype">int</span> ifs_version;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, cloud, ifs_version));</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    loadIFSFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html">pcl::IFSReader</a> p;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keywordflow">return</span> (p.read&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (file_name, cloud));</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    loadIFSFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;mesh)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_reader.html">pcl::IFSReader</a> p;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordtype">int</span> ifs_version;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, mesh, ifs_version));</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    saveIFSFile (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_writer.html">pcl::IFSWriter</a> w;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keywordflow">return</span> (w.<a class="code" href="classpcl_1_1_i_f_s_writer.html#a042d2eb77e8b87995de6ee531872efdf">write</a> (file_name, cloud));</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    saveIFSFile (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <a class="code" href="classpcl_1_1_i_f_s_writer.html">pcl::IFSWriter</a> w;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordflow">return</span> (w.<a class="code" href="classpcl_1_1_i_f_s_writer.html#a042d2eb77e8b87995de6ee531872efdf">write</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (file_name, cloud));</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    }</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;}</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_IO_IFS_IO_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_reader_html"><div class="ttname"><a href="classpcl_1_1_i_f_s_reader.html">pcl::IFSReader</a></div><div class="ttdoc">Indexed Face set (IFS) file format reader. This file format is used for the Brown Mesh Set for instan...</div><div class="ttdef"><b>Definition:</b> ifs_io.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_reader_html_a68e63978b51365e7130c11ac74be53de"><div class="ttname"><a href="classpcl_1_1_i_f_s_reader.html#a68e63978b51365e7130c11ac74be53de">pcl::IFSReader::readHeader</a></div><div class="ttdeci">int readHeader(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, int &amp;ifs_version, unsigned int &amp;data_idx)</div><div class="ttdoc">Read a point cloud data header from an IFS file.</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_reader_html_a8e14932dff214fd6341f4910cf158983"><div class="ttname"><a href="classpcl_1_1_i_f_s_reader.html#a8e14932dff214fd6341f4910cf158983">pcl::IFSReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PointCloud&lt; PointT &gt; &amp;cloud)</div><div class="ttdoc">Read a point cloud data from an IFS file, and convert it to the given template pcl::PointCloud format...</div><div class="ttdef"><b>Definition:</b> ifs_io.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_reader_html_ac7d2e9485c69123c824d67544cbe459b"><div class="ttname"><a href="classpcl_1_1_i_f_s_reader.html#ac7d2e9485c69123c824d67544cbe459b">pcl::IFSReader::~IFSReader</a></div><div class="ttdeci">~IFSReader()</div><div class="ttdef"><b>Definition:</b> ifs_io.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_reader_html_ad06dea75a21ebf304e3b2ac93a06ea15"><div class="ttname"><a href="classpcl_1_1_i_f_s_reader.html#ad06dea75a21ebf304e3b2ac93a06ea15">pcl::IFSReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PolygonMesh &amp;mesh, int &amp;ifs_version)</div><div class="ttdoc">Read a point cloud data from an IFS file and store it into a PolygonMesh.</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_reader_html_ad949b0f5db6a8f892ab040491d5bfd11"><div class="ttname"><a href="classpcl_1_1_i_f_s_reader.html#ad949b0f5db6a8f892ab040491d5bfd11">pcl::IFSReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, int &amp;ifs_version)</div><div class="ttdoc">Read a point cloud data from an IFS file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_reader_html_ae36146cd70de8de1fa608f62b84407ab"><div class="ttname"><a href="classpcl_1_1_i_f_s_reader.html#ae36146cd70de8de1fa608f62b84407ab">pcl::IFSReader::IFSReader</a></div><div class="ttdeci">IFSReader()</div><div class="ttdef"><b>Definition:</b> ifs_io.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_writer_html"><div class="ttname"><a href="classpcl_1_1_i_f_s_writer.html">pcl::IFSWriter</a></div><div class="ttdoc">Point Cloud Data (IFS) file format writer.</div><div class="ttdef"><b>Definition:</b> ifs_io.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_writer_html_a042d2eb77e8b87995de6ee531872efdf"><div class="ttname"><a href="classpcl_1_1_i_f_s_writer.html#a042d2eb77e8b87995de6ee531872efdf">pcl::IFSWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;cloud_name=&quot;cloud&quot;)</div><div class="ttdoc">Save point cloud data to an IFS file containing 3D points.</div></div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_writer_html_ac3a946b97f4cdfe07a9c7d42979647f1"><div class="ttname"><a href="classpcl_1_1_i_f_s_writer.html#ac3a946b97f4cdfe07a9c7d42979647f1">pcl::IFSWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const std::string &amp;cloud_name=&quot;cloud&quot;)</div><div class="ttdoc">Save point cloud data to an IFS file containing 3D points.</div><div class="ttdef"><b>Definition:</b> ifs_io.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
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